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RIT
Advisors:Dr. Wayne Walter Mechanical Engineering Dept. FacultyJeffrey Webb Teacher’s Assistant
Team Members:Aman Verma EE - Electrical Craftsman
A. David Gomez ME - ManagerBenjamin Smith ME - Mechanical DesignerJames Aclub EE - Electrical Systems LeadJames Harris EE - Software Engineering
Jeffrey Gill ME - Mechanical CraftsmanJesse Baker ME - Systems IntegrationTian Zheng EE - Electrical Designer
RP100:100kg-Payload Robotic PlatformP07205
Sponsored By:
The Gleason Foundation
RIT
Project DescriptionProject Description
Track Objective: To create a general-purpose, modular platform capable of safely transporting variable payloads.
Team Objective: To combine the technologies developed by previous design teams into two fully-operating configurations: rectangular and triangular.
Primary Customer: RIT Mechanical Engineering Dept,
Dr. Edward Hensel Jr.
Secondary Customers: Researchers and Enthusiasts
RIT
Top-level Customer Needs
Customer Needs• Perform safely• Comply with regulations• Perform tasks in KGCOE• Modularity• Economical• Robust• Accommodate other add-ons • Appeal • The project is properly documented• Easy to manufacture
Prototype Requirements• Max Payload: 100kg (rectangular) 30kg (triangular)• Total Budget for both platforms: 600.00USD• Motor Module Exchange time: 120sec• Locate 5 coordinates autonomously
RIT
Triangular Platform ConceptTriangular Platform Concept
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Rectangular Platform ConceptRectangular Platform Concept
RIT
Rectangular Platform ConceptRectangular Platform Concept
RIT
Rectangular Platform ConceptRectangular Platform Concept
RIT
Rectangular Platform ConceptRectangular Platform Concept
RIT
Quick Change Motor MountQuick Change Motor Mount
RIT
Electrical Wiring Concept
• PC104 standard technology is designed for limited space applications – Compact (3.6 x 3.8 in)
– Rugged and reliable connectors– Low power consumption (1-2watts per module)
• PC104 enclosure is designed for hostile and mobile environments• Shielded wiring will be used to prevent coupling of electrical noise• Connection terminals will have locking mechanism to improve robustness• Kill switch is used in case of an emergency
PC104 enclosure
Power supply(include battery)
Kill switch
P07202Motor module(s)
PC104 STACK (91mm x 97mm)
PC104 SBC
P07301DAQ
P07302Motor controller
ISA bus
ISA bus
User Interface
CAN bus
24Vdc
24Vdc
On Board Electronics
12V
5VSerial bus
Push Button Kill switch
PC104 stack
RIT
Power Board Concept
• Motor modules will be self-regulated• The power distribution board will provide 5V and 12V to the PC104 stack• Features:
• Over current protection to onboard electronics• Voltage surge protection• Provide regulated aux outputs ( two 12Vdc and two 5Vdc line)• Its scalable by ‘stacking’ additional power boards
RIT
SOFTWARE & USER INTERFACE CONCEPT
User inputs/Coordinates
Labview GUI
General Hyperterminal Motor
controller software
Platform command
intrepertation&
Navigation
LAPTOP OS
RS232 (command set)
PC104 SBC OS
Motor Module software
CAN bus17 motor
commands
RIT
Bill of Materials
• Budget Risks– Mitigation: Use RIT resources and order
Samples to avoid purchasing minor components such as fasteners & resistors
RIT
Risk Assessment• Motor Module (P07202) Requirements
• Current 45A w/spikes up to 82A• Heat 300F
– Mitigation: Use heavy-duty wiring Design frame and Thermal Analysis
• Test on Tube Inserts, Bolts and Connectors– Mitigation:
Impact analysis Vibration analysis
• Center of Gravity– Mitigation:
Payload constraints implemented Turning radius and speed of the platform restricted.
• Non-deliverable Power Board of the Motor Controller team (P07302)– Mitigation:
Use RP-100 Power Board to provide regulated voltage.
• Batteries• Budget• Battery Life
– Mitigation: Negotiate with P07202 Motor Module team Battery Life monitored by battery indicators.
• Kill Switch Design and Capability– Mitigation:
Standard red mushroom-shape Placed between the two 12 Volt Batteries connected in series
RIT
State of Design
Status Budget Performance
Status of Systems Motor Control System Data Acquisition System Motor System
Needs Specifications
Open Source Scalability - 1000kg
RIT
Project Timeline
12/4/2006 5/18/2007
1/1/2007 2/1/2007 3/1/2007 4/1/2007 5/1/2007
5/18/2007MSDII Ends
3/2/2007MSDI Ends
1/19/2007Concept Review
2/16/2007Design Review
3/23/2007Detailed Design Review
Planning Concept Generation Sys-Level Design Detailed Design
12/4/2006Project Starts - PRP
12/15/2006Project Schedule
12/22/2006Customer Needs
1/12/2007Engineering Specifications
Testing & Refinement
2/23/2007
Milestone Description(Current Phase: Detailed Design)
4/7/2007Tech. Paper
4/15/2007Function & Performance
Review
4/18/2007 - 5/16/2007Testing
3/22/2007 - 4/18/2007Prototype Fabrication
5/14/2007Final Review
4/26/2007Website
5/5/2007Poster